feat(ndt_scan_matcher): add parameters of real-time covariance estima…

…tion (#643) * add covariance_estimation * fix * fix * fix: parameter names and explanations Signed-off-by: Koki Aoki <[email protected]> * fix: A parameter that I forgot to add Signed-off-by: Koki Aoki <[email protected]> * fix: remove white space Signed-off-by: KOKIAOKI <[email protected]> * fix: remove white spaces --------- Signed-off-by: Koki Aoki <[email protected]> Signed-off-by: KOKIAOKI <[email protected]>
autowarefoundation · Nov 7, 2023 · 916c39c · 916c39c
1 parent a71571b
commit 916c39c
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -72,6 +72,14 @@
         0.0,   0.0,   0.0,   0.0,      0.0,      0.000625,
       ]
 
+    # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value)
+    use_covariance_estimation: false
+
+    # Offset arrangement in covariance estimation [m]
+    # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements.
+    initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0]
+    initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0]
+
     # Regularization switch
     regularization_enabled: false